sudo chmod 777 /dev/ttyACM0
#echo "\$cmd,output,usb0,gtimu,null*ff" > /dev/ttyACM0 #Gpfpd、Rawimub、gtimu、inspvab、gpgga
echo "\$cmd,set,navmode,FineAlign,off*ff" > /dev/ttyACM0 #
echo "\$cmd,set,navmode,coarsealign,off*ff" > /dev/ttyACM0 #
echo "\$cmd,set,navmode,dynamicalign,on*ff" > /dev/ttyACM0
echo "\$cmd,set,navmode,gnss,double*ff" > /dev/ttyACM0 #
echo "\$cmd,set,navmode,carmode,on*ff" > /dev/ttyACM0 #程度
echo "\$cmd,set,navmode,zupt,on*ff" > /dev/ttyACM0 #
echo "\$cmd,set,navmode,firmwareindex,0*ff" > /dev/ttyACM0 #
echo "\$cmd,set,leverarm,gnss,0.0,-1.25,1.07*ff" > /dev/ttyACM0 #

#设置坐标
#echo "\$cmd,set,coordinate,x,y,z*ff" > /dev/ttyACM0 
echo "\$cmd,set,headoffset,0*ff" > /dev/ttyACM0 
#设置杆臂值
#echo "\$cmd,set,leverarm,gnss,0.2,-0.1,0.8*ff" > /dev/ttyACM0 
#设置can输出
#组合经纬度
echo "\$cmd,output,can0,0x703,0.01*ff" > /dev/ttyACM0 
#组合高度
echo "\$cmd,output,can0,0x704,0.01*ff" > /dev/ttyACM0 
#组合速度
echo "\$cmd,output,can0,0x705,0.01*ff" > /dev/ttyACM0 
#组合姿态
echo "\$cmd,output,can0,0x706,0.01*ff" > /dev/ttyACM0 
#组合位置标准差m
echo "\$cmd,output,can0,0x707,0.01*ff" > /dev/ttyACM0 
#组合速度标准差
echo "\$cmd,output,can0,0x708,0.01*ff" > /dev/ttyACM0 
#组合航姿标准差
echo "\$cmd,output,can0,0x709,0.01*ff" > /dev/ttyACM0 
#组合导航状态位
echo "\$cmd,output,can0,0x710,0.01*ff" > /dev/ttyACM0 
#IMU1
echo "\$cmd,output,can0,0x721,0.01*ff" > /dev/ttyACM0 
echo "\$cmd,output,can0,0x722,0.01*ff" > /dev/ttyACM0 
echo "\$cmd,output,can0,0x723,0.01*ff" > /dev/ttyACM0
#GPS卫星数目
echo "\$cmd,output,can0,0x737,0.01*ff" > /dev/ttyACM0
#GPS
echo "\$cmd,set,localip,192,168,43,123*ff" > /dev/ttyACM0
echo "\$cmd,set,localmask,255,255,255,0*ff" > /dev/ttyACM0
echo "\$cmd,set,localgate,192,168,43,1*ff" > /dev/ttyACM0
echo "\$cmd,set,netipport,203,107,45,154,8002*ff" > /dev/ttyACM0
echo "\$cmd,set,netuser,qxuadp002:f40ccf2*ff" > /dev/ttyACM0
echo "\$cmd,set,mountpoint,RTCM32_GGB*ff" > /dev/ttyACM0

echo "\$cmd,save,config*ff" > /dev/ttyACM0 

